RLink
has been designed to connect to the user application board via the USB
port allowing In-Circuit Programming and In-Circuit Debugging thanks to
the serial protocol included in the used microcontroller.http://www.mcu-raisonance.com/spc56xx-support.html

The
iC3000 Active Emulator is the ultimate tool for high performance
microcontroller based embedded applications. Supports all famous On
Chip Emulation technologies like BDM, SDI, Once, JTAG and Nexus for On
Chip Debugging. For On Chip Trace ETM and Nexus solutions are available.http://www.isystem.com/